Orientação TCP

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Kinematics hand axis and orientation TCP

To get the robot hand in the desired angle, you would need 3 handaxis.
robot orientation hand axis

robot orientation hand axis

orientation robot gripper

fig.:   orientation robot gripper

The angle of the robot hand is called orientation. The axes of the hand, designated A, B and C, allow three movements: Roll, Pitch and Yaw. These terms were derived from shipping and aviation.

The angle position of the robot hand is called "orientation".

TCP = engl. Tool Center Point

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